Chapter 1 - Fundamental of Electrical Drives

TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING
401072
CHAPTER 1: FUNDAMENTAL OF
ELECTRICAL DRIVES
Tri-Vien Vu, PhD
CHAPTER OBJECTIVES
After study this chapter, the student should be
able to:
• State the definition, purpose, components of
electrical drive systems
• List the typical application of DC and AC drive
• Be able to calculate the required speed and
torque of the motor for a given application
• Analysis the stability of a given operating point
• Understand the effect of mechanical transmission
system
15-June-2020 401072 – Fundamental of electrical drives 2
CHAPTER 1: INTRODUCTION
1.1. Concepts and Elements

1.2. Speed – Torque Characteristic Curves
1.3. Motion Dynamics
1.4. Mechanical Transmission System
1.5. Four-quadrant operation

1.1. CONCEPTS AND ELEMENTS
DEFINITION
− Also known as electromechanical system
− A motion system that use electric motors as motion
sources
− Speed, torque, or position of the mechanical part is
handled by controlling the corresponding electric
motor variables by mean of power electronic
converters
− Involving multi-disciplines

BLOCK DIAGRAM
Electric Mech. Motion
Power Electronics machine Transmission Mechanics
Control
engineering Industrial Communication Network
CLASSIFICATION
Adjustability of the speed: fixed, variable, servo
– Fixed-speed drives
– Variable-speed drives
– Servo drives: positioning system
Motor type and drive controller
– DC drive
– AC drive
Motor Power
– Small power, medium, large, very large power
Motor rated data
Controller rated data

ELECTRIC MACHINE
Heart of the system: motion source
Different types available:
– DC machine: shunt, series, compound,
separately-excited dc motors, and switched
reluctance machines
– AC machines: induction, wound-rotor
synchronous, permanent-magnet synchronous,
synchronous reluctance…
– Special machine: step, bldc, switch reluctance
machine…
Available from fractional-kW to MW
ELECTRIC MACHINE
 DC motors
 AC motors

ELECTRIC MACHINE
 Stepping motors
 Servo motors

Power Source:
– Alternative Current
• Single phase or Multiphase
• 50Hz or 60 Hz
– Direct Current:
• Battery
• Fuel Cell
• Solar Cell

Power Processing Unit:
– Convert the fixed voltage/frequency inputs into
outputs with appropriate forms (in frequency,
amplitude, number of phase) that optimally suited
the load requirements.
– Four types:
• Controlled rectifiers (AC to DC converters)
• DC choppers (DC to DC converters)
• AC voltage controllers (AC to AC converters)
• Inverters (DC to AC converters)

Controller
– Governing the load and motor characteristics and
their interaction
– To match the load and motor through the power
converter.
Input
Feedback Controller Output
Other

Controller - Input
– Torque, flux, speed, and/or position commands
and their rate of variation
– Measured torque, flux, speed, and/or position for
feedback control
– Limiting value of torque, currents, acceleration...
– Temperature feedback and instantaneous
currents and/or voltage in the motor and/or
converter
– The constant in the speed and position controller

Controller - Output
– Control signal for voltage magnitude: vc
– Control signal for determining frequency: fc
– Control signals for the bases/gates of the
converters
– Protection and other monitoring function
Controller - Realization
– Analog or integrated circuit
– Microprocessor, single-chip mC, DSP, VLSI
– Complex control algorithm can be implemented

Controller: Realization

Controller: Realization

Controller realization




Mechanical Load Speed
T=Const
k
n T n2
TL  T0  CTr  
 nr  T n
1
T0: Load torque at zero speed T
n
C: constant
T0 Torque
Tr: load torque at the rated speed nr
n: operating speed
k: exponential coefficient
Mechanical Load

Active load torque:
– Always effect on the motor shaft, even when the
system is in static state.
– Direction remain unchanged.
– Example: potential energy load, load caused by
compressive forces, elastic forces ...
Passive load torque:
– Counteract the movement of systems.
– Reverse direction of the rotating speed.
– Example: friction loads, load of cutting machines
Applications: DC drives
− Winders/Coiler
− Marine Applications
− Crane/Hoist
− Mining/Drilling
− Extruding

Winders/Coilers

Marine Application

Crane/hoist

Mining/Drilling

Extruder

Applications: AC drives
− Constant torque: Conveyors
− Variable torque: Fans and pumps
− Constant power: Cutting machine tool

Conveyor

Conveyor

Centrifugal pumps and fans

Constant power: cutting process


1.4. Mechanical Tranmission System

1.2. TORQUE-SPEED
CHARACTERISTIC CURVES (TSC)
Definition:
− Load’s TSC: the relationship between torque and
speed of a load.
− Motor’s TSC: the relationship between torque and
speed of a motor.
− The natural TSC: the motor torque-speed curve
when it is working in nominal/rated condition.
− The controlled TSCs: achieved by adjusting one
or several electrical input parameters: each motor
has a family of curve

1.2. TORQUE-SPEED
The hardness of the TSC
T T
  
 
Range of speed control
max
D
min
Smoothness of speed control
i 1
 
i
1.2. TORQUE-SPEED
Mechanical Load Speed
T=Const
k
n T n2
TL  T0  CTr  
 nr  T n
1
T
n
T0: Load torque at zero speed
C: constant T0 Torque
Tr: load torque at the rated speed nr
n: operating speed
k: exponential coefficient

1.2. TORQUE-SPEED
Another way to express the load torque:
 TR: constant torque

 Bω: Viscous friction torque
 Cω2 : Aerodynamic drag torque

1.2. TORQUE-SPEED
Motor TSC
– Series DC Motor Speed
Series
– Separate DC Motor Synchronous
Shunt
– Shunt DC Motor
Compound
– Compound DC Motor
Separate
– Induction AC Motor Induction
Torque

1.2. TORQUE-SPEED
Joint TSC Characteristic
– Loads have a wide range of speed-torque
characteristics
– Electric motors exhibit variety of speed-torque
characteristic curves
– Equilibrium point: the intersection of the two
curves
– The speed of the system is not determined by the
motor only, but is also heavily depended on the
mechanical load characteristics.
1.2. SPEED – TORQUE
CHARACTERISTIC CURVES
Joint TSC
Speed
Fan
Hoist
F1 H1
F2 H2
Motor
F3 Characteristics
H3
Torque


1.3. MOTION DYNAMICS

Rotational and Linear Motion Relationship
v  TM
FM
m
FL J
TL
d  mv  d  J 
 F  dt  T  dt
d  mv  d  J 
FM  FL  TM  TL 
dt dt
Rotational and Linear Motion Relationship
d d
 T
V F
V r  T r F

Moment of Inertia
– Inertia is the resistance of an object to be accelerated, or
decelerated
– Moment of inertia is the name given to rotational inertia,
the rotational analog of mass for linear motion



Trapezoidal velocity profile
15-June-2020 401072 – Fundamental of electrical 50

S-curve velocity profile

S-curve velocity profile

Multi-axis profile

Flying shear machine to cut

continuous material into fixed lengths
Velocity profile for the shear

ROTATIONAL MOTION
Tm
Motor Load
Jm TL
JL
m
Jt  J m  J L
d d m dJ t
 J t m   J t  m  Tm  TL
dt dt dt
Tm and TL : torque of motor and load [N.m].
Jm and JL : moment of inertia [kg.m2]
ωm: angular velocity (rotating speed) [rad/s]
ROTATIONAL MOTION
Motor torque
m J t
Tm  TL  J t  m
t t
− Dynamic torque due to speed change:
m 2 nm
Tdyn  J t  Jt
t 60 t
− Dynamic torque due to inertia change:
2 J t
Tdyn  nm
60 t
ROTATIONAL MOTION
− Dynamic torque cause the motor to accelerate or
decelerate Torque Motor
Tdyn  Tm  Tload
Tdyn
− Speed change: T eq
Load
Tdyn Tload
m  t 
Jt Speed eq
− Required time for a desired speed change

Jt
t   m
Tdyn
ROTATIONAL MOTION (CONST INERTIA)
Traveling time
M
Jt
t 
0
TM  TL
d m
Speed at any time instant

tf
TM  TL
 m ,t  m ,t  dt
f 0
t0
Jt

Example 3
Tm
A system, in the Motor Load
upper right figure, Jm Jl
Tl
has Tload=10Nm, total m
moment of inertia  (rad/s)
J=0.05kgm2.
Determine Tm(t) so 376.8
that this system can

achieve its speed as
shown in the other
one. t (s)
0 0.2 0.8 1.0

Example 4
The total moment of inertia, 3 kgm2, is accelerated
from a speed of 500 rpm to 1000 rpm in 10s. What
is the total torque needed when the constant load
torque is 50 Nm?
How fast will the motor decelerate to 0 rpm speed if
the motor’s electric supply is switched off?

Example 4 - solution
- The total moment of inertia is constant. The dynamic
torque needed for acceleration is:
2 nm 2 1000  500
Tdyn J 3  15.7  Nm 
60 t 60 10
- Total torque during acceleration is
Tm  Tdyn  Tload  15.7  50  65.7  Nm 
- If the motor’s electric supply is switched off at 1000 rpm,
the motor decelerates because of the constant torque
(50Nm)
2 0  1000 2 1000
3  Tload  t  3  6.28  s 
60 t 60 50
Example 5
Accelerating of a fan to nominal speed is done with nominal
torque. At nominal speed, torque is 87%its nominal value.
The fan’s moment of inertia is 1200 kgm 2 and the motor’s
moment of inertia is 11
kgm2. The load
characteristics of the
fanTload is shown in
Figure. Motor nominal
power is 200 kW and
nominal speed is 991
rpm

 Example 5 – solution
- Nominal torque
P 60 P W  P  kW 
Tn    9550
m , n 2 nm  rpm  nm  rpm 
200
Tn  9550  1927  Nm 
991
- The starting time is calculated by dividing thespeed range
into five sectors. In each sector (198.2 rpm) torque is
assumed to be constant. Torque for each sector is taken
from the middle point of the sector. This is quite acceptable
because the quadratic behaviour is approximated to be
linear in the sector
Example 5 – solution
- The time to accelerate the motor ( fan) with nominal
torque can be calculated with formula:
2 J tot n
t 
60 Tn  Tload
 t  112  s 
 Example 6
In the hoist drive system, the following
are given: Jm = 0.5 kgm2; m = 500 kg.
D = 0.5 m; L = 1 m. The mass of the
cable is negligible.
a) Determine the moment of inertia of
the drum referred to the motor,
assuming that the density of the
material, r = 7900 kg/m3
b) The drive of question 1 lifts and
moves the load from point to point
with a peak velocity profile as
indicated in figure2. Calculate and
plot the torque that the motor must
develop

STABILITY OF THE EQUILIBRIUM POINTS
The motor-load torque-speed curve is at equilibrium
in steady-state: TM, TL, M
If no disturbance
TM  TL
Any disturbance will causes all equilibrium change:
Tm, TL, m:
d m  m 
Jt  Tm  Tm   TL  TL 
dt
d m
 Jt  Tm  TL
dt
For small deviation at equilibrium
dT T dTL dTm
  TL  m ; Tm   m
d m m d m d m
The we have
d m  dTL dTm 
Jt     m  0
dt  d m d m 
Solving the differential equation, we obtained:
 dTL dTm 
  
 
 m m 
d d
t
m  m 0 e Jt

dTL dTm
 0
d m d m
T  TL T  TM
' '
L
  0  TL  Tm
m ' '
m m
Example 7: the torque-speed characteristics of the
motor and the load in the four quadrants are shown
below. Comment on the stability of the equilibrium
points A, B, C, D.

Solution
 [rad/s]  [rad/s]  [rad/s]

E eq
Load Load Load
Motor Motor Motor
T[Nm] T[Nm] TM Teq TL T[Nm]

A) Hệ động cơ-tải B) Điểm làm việc C) Kiểm tra ổn định



1.4. MECHANICAL
TRANSMISSION
Mechanical transmission are typical in electric
drive
– Reduce speed/increase torque and vice versa
– Convert rotation to linear motion
– Change the motion direction
– Transfer the motion to a long distance
When calculate the motor torque and speed
range, the mechanical transmissions have to
be taken into account
Sizer software
1.4. MECHANICAL TRANSMISSION
GEAR DRIVES
Spur Gear Drive

Bevel Gear Drive
Helical Gear Drive Worm Gear Drive

GEARBOX

GEARBOX

TANGENTIAL/BELT DRIVE

BELL/CHAIN DRIVE
Synchronous or timing belt

Belt Drive
V-belt
CHAIN DRIVE

BALL-SCREW DRIVE

GEAR DRIVE ANALYSIS
T2
T1
F21 F12
 1T1
  F21  D / 2
D1 D2 D1
V
 1  
2
1
2  1
  D2
1
V   D2 T21   2 F12  T2  1 2T1iG
 2 2
2  2
V1=V2  1 D1  2 D2  F12  F21


GEAR DRIVE ANALYSIS
For a real gearbox transmission:  < 1
1
2  T2  T1  iG G
iG
in which
- iG is the gear ratio
- G is the efficiency of the transmission
- Gear 1 is the driving one
- Gear 2 is the driven one

GEARBOX DRIVE ANALYSIS
T1
1 1 2
2 iG    iG1iG 2
3 2 3
1
T3 G  G1G 2
T2
3 T3  T1  iG G
in in 2 n 1 n
iG   ...  iG1iG 2 ...iG , n 1iG , n
out 2 3 n out
G  G ,1G ,2 ...G , n Tout  Tin  iG G

MOTOR-GEAR DRIVE ANALYSIS

T1M  TM 1 d L
1 :   5 : T2 L  TL  J L
TL 2  T2 L dt
d  L 1 d M
 3   6  : 
dt iG dt
J L d M
 5 &  6    7  : T2 L  TL 
iG dt
d M
 2  : TM  T1M  JM TL J d M
dt  7  &  4   8 : TM 1   2 L
iG G iG G dt
M
 3 : L   2  & 8   9  :
iG
TL  J  d M
 4  : TL 2  TM 1  iG G TM    JM  2 L
iG G  iG G

 dt
M   L  i
TL
TL ,eq 
iG G
JL
J L ,eq  2
M N 2 iG G
iG  
L N1 d M
TM  TL ,eq   J M  J L ,eq 
TM,L – Motor and Load Torque (N.m) dt
JM, L – Motor and Load Moment of inertia (Kg.m 2)
M, L– Motor and Load angular speed (rad/s)
g – Gravitational acceleration [m/s2] (9.807)
 – gearbox transmission efficiency
DRUM-CABLE DRIVE
Ideal system,  = 1
FD
T
2
D D
D
V   T
2
Real system  < 1 V
F
FD/2
T

V D/ 2
MOTOR-DRUM DRIVE
Drum D
M
TM
M
M Motor JD 2
JM
M
V
m
VL VL
m m
chiếu cạnh
Font view Left view
m – load’s mass (kg)
D – Diameter of the drum (m)
JD – Moment of inertia of the drum
mD – Mass of the drum
MOTOR-DRUM DRIVE
Drum D
M
Motor JD 2
JM
M
VL VL
m m
Font view Left view

MOTOR-DRUM DRIVE
TM TDM
FmD D d M
Motor M  4  : TMD   JD
JM
D 2 dt
TMD
M FmD
dVL
1 : VL  D
D FDm
 5 : FDm  mg  m
2 dt
VL
 2  :  D  M D d M
m 1 &  5   6  : FDm  mg  m
2 dt
d M
 3 : TM  TDM  J M FmD D d
dt  3   4    7  : TM    JM  JD  M
D 2 dt
mg D  m D 2  d M
 6  &  7   8  : TM    JM  JD  
D 2   D 4  dt

MOTOR-DRUM DRIVE
VL VL
M 
Drum D

M
D/2 Req
Motor JD 2
JM
M mg D
TL ,eq 
D 2
VL VL
m m m D2
J L ,eq  JD 
Font view Left view D 4
m – load’s mass (kg) 1 D2
J D  mD
D – Diameter of the drum (m) 2 4
JD – Moment of inertia of the drum d M
TM  TL ,eq  J M  J L ,eq
dt
 
MOTOR-DRUM DRIVE- DOWNWARD
TM
Drum
Motor M
2r
TM
TM
M  D
m m
V V
Front View Left View

TM
D d M
Motor
TM  TDM  J M
Drum
D
dt
M TDM TMD TMD
Fmd D dD
Fmd TMD   JD
D 2
Fmd
Fdm Fdm
dt
m m
V dV
mg mg
V
 Fdm  mg  m
Front View Left View dt
mg D  m D 2  d M
 6  &  7   8  : TM    JM  JD  
D 2   D 4  dt

TM VL VL
Motor
Drum
M M  
D/2 Req
2r
TM
TM
M  D
mg D
TL ,eq 
D 2
m m
m D2
Front View V Left View
V
J L ,eq  JD 
D 4
m – load’s mass (kg) 1 D2
J D  mD
D – Diameter of the drum (m) 2 4
JD – Moment of inertia of the drum d M
TM  TL ,eq  J M  J L ,eq
dt
 
CONVEYOR DRIVES
VL
load
M
Front View
D1 D2
load
M
TM JP1 JP2
Motor JM
Top View

CONVEYOR DRIVES
v
4 load 3
1 2
CONVEYOR DRIVES
v
mL
F4 F4
F3 F3
J1 Fms1 m1 2
M TM FN1L
J2
F2 F2
F1 F1 v Fms2 m2 v
FN2
 F1  F4  d M
1 : TM   r1   J M  J P1 
D dt
1 d 2
 2  : F2  F3  J P 2
r2 dt
CONVEYOR DRIVES
v
mL
F4 F4
F3 F3
J1 Fms1 m1 2
M TM FN1L
J2
F2 F2
F1 F1 v Fms2 m2 v
FN2
dv d 2
 3 : F1  F2  Fms 2  m2  m2 r2
dt dt
dv d M
 4  : F3  F4  Fms1   m1  mL    m1  mL  r1
dt dt
CONVEYOR DRIVES
F1  F4 d M dv d 2
1 : TM 
B
 r1   J M  J1 
dt
 3 : F1  F2  Fms 2  m2  m2 r2
dt dt
1 d 2 d M
 2  : F2  F3  J 2  4  : F3  F4  Fms1   m1  mL 
dv
  m1  mL  r1
r2 dt dt dt
1  d M
 2    3   4    5  : F1  F4  Fms1  Fms 2   J 2  m2 r   m1  mL  r 
r  dt
m  m1  m2  mL  gr   m1  m2  mL  r 2  d M
1 &  5    6  : TM    J M  J P1  J P 2 
 
B   B  dt
d M
  7  : TM  TL ,eq   J M  J L ,eq 
dt
mr 2 m m g r
J L , eq  J P1  J P 2  TL , eq  m  m1  m2  mL
B B
CONVEYOR DRIVES
VL
load
M
Front View
D1 D2
m mgr
TL ,eq 
B load
M
mD12 JP1 JP2
J L ,eq  J P1  J P 2  TM
B 4 Motor JM
d
  J M  J L ,eq  M
Top View
TM  TL ,eq
dt
LOAD REFERRED TO MOTOR SHAFT
Rotational Load
(L, TL, JL)
Motor Mechanical
JM Transmission
Translational Load
(VL, FL, mL)
Load reduced to
Motor
motor shaft
JM
(M, TL,eq, JL,eq)
Kinematic Energy Conservation

1 1mV 2
1 1 J L 2
J L ,eqM 
2 L L
J L ,eqM 
2 L
2 2  2 2 
Conservation of Momentum
TLL
TL ,eqL ,eq 
FLVL
TL ,eqL ,eq 
 

Rotational Load Translational Load

M Req 
VL
ieq 
L M
TL FL  Req
TL ,eq  TL ,eq 
  ieq 
JL
 2
mL Req2
J L ,eq
 ieq J L ,eq 

d M
TM  TL ,eq   J M  J L ,eq 
dt
Example
i1 i2 L1
JL1
1 2 TL1
Motor
JM, M
i3 i4 vL2
mL2, R2
3 4 FL2

In general, for a system consists of p

rotational parts and q linear motion parts
– The load torque/force reduced to motor shaft:
p q
1 Rk
TL ,eq   Tk   Fk
k 1 ikk k 1 k
– The load moment of inertia/mass reduced to
motor shaft
p
Jk q
mk Rk2
J L ,eq  2 
k 1  k ik k 1  k

Rotational load with gearbox

M
ieq   iG
L
TL
TL ,eq 
G  iG
JL
J L ,eq 
G iG2
d M
TM  TL ,eq   J M  J L ,eq 
dt
Motor-drum Drive
VL D
Req  
Drum D
M 2
Motor JD 2
M FL  mg
JM
M
FL  Req mg D
TL ,eq  
VL VL
 D 2
m m
m D2
J L ,eq  JD 
Font view Left view D 4
d M
TM  TL ,eq   J M  J L ,eq 
dt
MOTOR-DRUM DRIVE
TM TDM
FmD D d M
Motor M  4  : TMD   JD
JM
D 2 dt
TMD
M FmD
dVL
1 : VL  D
D FDm
 5 : FDm  mg  m
2 dt
VL
 2  :  D  M D d M
m 1 &  5   6  : FDm  mg  m
2 dt
d M
 3 : TM  TDM  J M FmD D d
dt  3   4    7  : TM    JM  JD  M
D 2 dt
mg D  m D 2  d M
 6  &  7   8  : TM    JM  JD  
D 2   D 4  dt

Motor-drum Drive - downward

VL D
TM Req  
Motor
Drum 2r
M M 2
TM
TM FL  mg
M  D
FL  Req mg D
TL ,eq  
m m  D 2
V m D2
 JD 
Front View V Left View
J L ,eq
D 4
d M
TM  TL ,eq   J M  J L ,eq 
dt
Conveyor Drive (1)

VL D
Req  
M 2
FL  m mg
FL  Req m mg D
TL ,eq  
 D 2
m D2
J L ,eq  J P1  J P 2 
D 4
d M
Forward or Backward: TM  TL ,eq   J M  J L ,eq 
dt
Conveyor Drive(2)
VL D
Req  
M 2iG
FL  m mg
FL  Req m mgD
TL ,eq  
 2iG DG
J P1  J P 2 mD 2
J L ,eq   2
iGG
2
4iG DG
d M
Forward or Backward: TM  TL ,eq   J M  J L ,eq 
dt
EXAMPLE 8
A hoist system is simplified depicted in figure a) below. The
total moment of inertia consists of J1 =10 kgm2, J2=30 kgm2,
r = 0.2m and m = 100 kg. A gearbox with gear ratio i =
n1:n2=2. The mass m is driven to follow the speed profile as
in figure b). Calculate the motor torque.
n1 Gearbox Drum v (m/s)

Motor i=2 10
2r
n2
20 24 28 32
J1 J2 0
4 12 16 t (s)
v
m
15
a) b)

EXAMPLE 5 – METHOD 1
TM
M Motor
TM 1
Drum
M  1
2r
2 T2
2
V V
m m
Right View Front View

1 d M
Motor
TM
 2  : TM  T1M  JM
JM
TD2 T2D
dt
Drum
M T1M TM1
2r
JD
2 D
 3 : 2  1 / iG
Fmd
 4  : TD 2  TM 1  iG G
T1M  TM 1 ; TD 2  T2 D Fdm
1 :  V
d D
M  1 ; D  2 ;V  D r
Fmd
m  5 : T2 D  r  JD
D dt
mg
dV
 6  : Fdm  mg  m
dt
T1M  TM 1 ; TD 2  T2 D dV
1 : M  1 ; D  2  6  : Fdm  mg  m
dt
V   r
 D
dV r d M
d M 1 &  3   7  : 
 2  : TM  T1M  J M dt iG dt
dt
 3 : 2  1 / iG r d M
 6  &  7   8  : Fdm  mg  m
 4  : TD 2  TM 1  iG G iG dt
Fmd d D
 5 : T2 D  r  J D mgr  mr 2 J D  d M
D dt  5 & 8   9  : T2 D    
D i 
 G D iG  dt
mgr  JD mr 2  d M
 2  &  4  &  9   10  : TM    JM  2  
iG G  D  iG G iG2 G  D  dt
TM VL D
M Motor Req  
TM 1
Drum
M 2iG
M  1
FL  mg
2r
2 T2
2
FL  Req mgD
TL ,eq  
V
 2iG DG
V
m m JD mD 2
J L ,eq  
Right View Front View i
2
G G 4 DG iG2
d M
When the load is lifting up TM  TL ,eq   J M  J L ,eq 
dt
d M
When the load is lifting down TM  TL ,eq   J M  J L ,eq 
dt


1.5. QUADRANTAL DIAGRAM
Four-quadrant requirement in drives

1.3. Quadrantal diagram
Four quadrant operation of a motor driving a hoist load

Power balancing
Pi  Po  P
Motoring: Pi > 0 and Po > 0

Braking:
 Regenerative braking: Pi < 0 and Po < 0
 Reverse braking: Pi > 0 and Po < 0
 Dynamic braking: Pi = 0 and Po < 0
Where
Pi input power (electrical)
Po output power (mechanical)

SUMMARY
In this chapter, we have learnt:
Concepts and elements of electrical drive systems
Classification of electrical drive systems
Dynamic of electrical drive systems
Typical applications of electric drives
Power converters applied in electrical drives

ASSIGNMENT
Homework
 All related exercises
Reading assignment
 Slides of chapter 2
 Textbooks:
[1]: 31-101; 105 – 111; 112-125; 156-188; 231-266; 283-308
[2]:119-141; 161-180; 180-188; 124-210;
[3]: 91-100; 256-262;
[4]: 14-23; 87-108
[5]: 11-13; 14-46; 23-87
[6]: 95-103; 110-147

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TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING

1.1. Concepts and Elements

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− Variable torque: Fans and pumps

− Constant power: Cutting machine tool

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1.1. Concepts and Elements

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 TR: constant torque

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1.1. Concepts and Elements

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Flying shear machine to cut

Velocity profile for the shear

− Required time for a desired speed change

Speed at any time instant

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that this system can